Polynome used for Z trajectory during stepover. More...

Inheritance diagram for PatternGeneratorJRL::StepOverPolynomeFootZtoX:

Collaboration diagram for PatternGeneratorJRL::StepOverPolynomeFootZtoX:

Public Member Functions
	StepOverPolynomeFootZtoX ()

void	SetParameters (Eigen::VectorXd Zpos, std::vector< double > Xpos)

	~StepOverPolynomeFootZtoX ()

Public Member Functions inherited from PatternGeneratorJRL::Polynome
	Polynome (int Degree)

	~Polynome ()

double	Compute (double t)

double	ComputeDerivative (double t)

double	ComputeSecDerivative (double t)

double	ComputeJerk (double t)

void	GetCoefficients (std::vector< double > &lCoefficients) const

void	SetCoefficients (const std::vector< double > &lCoefficients)

int	Degree ()

void	print () const

Additional Inherited Members
Protected Attributes inherited from PatternGeneratorJRL::Polynome
int	m_Degree
	Degree of the polynome. More...

std::vector< double >	m_Coefficients
	Vector of coefficients. More...

Detailed Description

Polynome used for Z trajectory during stepover.

Constructor & Destructor Documentation

StepOverPolynomeFootZtoX::StepOverPolynomeFootZtoX ( )

Constructor: Zpos: vector with Zpos Xpos: vector Xpos

StepOverPolynomeFootZtoX::~StepOverPolynomeFootZtoX ( )

Destructor.

void StepOverPolynomeFootZtoX::SetParameters	(	Eigen::VectorXd	Zpos,
		std::vector< double >	Xpos
	)

Set the parameters

The documentation for this class was generated from the following files: